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Abstract:

The invention is a modular assembly of modular objects for autonomously
executing a variety of tasks. The modular assembly consists of a modular
object called a platform, one or more modular objects called modules
which are mounted to the platform in accordance with a modular assembly
system, and a modular bus system for distributing electrical power and
electrical signals among the modular objects in the modular assembly. The
modular assembly system utilizes modular object fasteners (MOFs) and
MOF-accommodating features of modular objects for facilitating the
attachment of a plurality of modular objects to one another thereby
creating a modular assembly in any one of a variety of configurations, an
MOF being activatable when object attachment surfaces associated with two
modular objects are superimposed and two object attachment points on the
object attachment surfaces coincide.

Claims:

1. A modular assembly of modular objects for autonomously executing tasks
comprising:a modular assembly system utilizing modular object fasteners
(MOFs) and MOF-accommodating features of modular objects for facilitating
the attachment of a plurality of modular objects to one another to create
a modular assembly in any one of a plurality of configurations, the
modular assembly system facilitating the detachment of modular objects in
an assembly and the reattachment of the same or different modular objects
to form a different configuration of the modular assembly or a different
modular assembly, an MOF being activatable when object attachment
surfaces associated with two modular objects are superimposed and two
object attachment points on the object attachment surfaces coincide;a
modular object called a platform comprising a frame of interconnected
beams and any cross-members attached to the frame, the frame being
amenable to the attachment and detachment of cross-members within the
frame, beams and cross-members being structural members consisting of one
or more parallel flanges and one or more webs normal to the flanges,
coplanar exterior surfaces of the flanges of the beams and cross-members
constituting object attachment surfaces with object attachment points
designated thereon, the web surfaces of the beams and cross-members
constituting bus-attachment surfaces;one or more modular objects called
modules, a module having at least one object attachment surface with
object attachment points designated thereon, the interior surfaces of a
module being bus-attachment surfaces, a module being attachable to a
platform or to another module when one or more of the object attachment
points on an object attachment surface of the module coincide with one or
more object attachment points on an object attachment surface of the
platform or the other module;a modular bus system for distributing
electrical power and electrical signals among a plurality of modular
objects in a modular assembly, the modular bus system comprising
modular-object bus systems attached to one or more bus-attachment
surfaces within each modular object, one or more inter-object bus
connectors for electrically connecting the plurality of modular-object
bus systems to one another, and one or more intra-object bus connectors
for enabling the flow of electrical power and electrical signals between
the bus system of a modular object and units within the modular object.

2. The modular assembly of claim 1 wherein the modular assembly system
comprises:one or more object attachment surfaces associated with each
modular object;a plurality of object attachment points designated on each
object attachment surface, the object attachment points of each object
attachment surface being congruent with points on an attachment point
pattern, the attachment point pattern being the points in a plane
corresponding to the intersections of equally-spaced x-lines and y-lines,
the x-lines being parallel to the x-axis and the y-lines being parallel
to the y-axis in an x-y Cartesian coordinate system;a fastening system
for attaching one modular object to another at coinciding object
attachment points, the fastening system comprising modular object
fasteners (MOFs) working in conjunction with MOF-accommodating features
of the modular objects, an MOF being a device or a combination of devices
which, when activated, in combination with MOF-accommodating features of
two modular objects applies opposing forces to the two modular objects at
coinciding object attachment points thereby holding the two objects
together at the coinciding object attachment points, the forces applied
to two modular objects by an MOF being removed when the MOF is
deactivated.

3. The modular assembly of claim 1 wherein the web of a cross-member
attached to a beam or another cross-member extends into the interior
region of the beam or the other cross-member bounded by the interior
surfaces of a flange and a web of the beam or the other cross-member and
having a web attachment axis within the web and normal to the flange of
the cross-member, a first cross-member being attachable at each end to a
beam or to a second cross-member by a cross-member attachment system
comprising a cross-member fastener (CF) acting in concert with
CF-accommodating features of the first cross-member and the platform beam
or the second cross-member, a CF being activatable when the web
attachment axis of the first cross-member is normal to an object
attachment surface and passes through an object attachment point of the
object attachment surface of a platform beam or a second cross-member.

4. The modular assembly of claim 3 wherein the CF is a pin terminated at
one end by a threaded region, the CF-accommodating features of the first
cross-member being a hole through the web coaxial with the web attachment
axis at each end of the first cross-member, the CF-accommodating features
of the beam and second cross-member being holes in the flanges concentric
with object attachment points and having threaded regions beginning at
the object attachment surfaces and extending part way through the
flanges.

5. The modular assembly of claim 1 wherein the modular object fasteners
(MOFs) utilized in attaching a modular object to a platform are bolts,
the MOF-accommodating features of a platform being holes concentric with
object attachment points, the portions of the holes adjacent to the
object attachment surface being threaded so as to engage the threaded
ends of the bolts.

6. The modular assembly of claim 1 wherein a modular object fastener (MOF)
is activated or deactivated by means of an MOF tool having access to the
MOF through an access opening in a wall of a module.

7. The modular assembly of claim 6 wherein an access opening is centered
on an object attachment point of the module.

8. The modular assembly of claim 6 wherein an object attachment point of a
module is the location of an access opening and also is a location which
may be used in attaching another module to the module.

9. The modular assembly of claim 1 wherein the MOFs are bolts, the
MOF-accommodating features of a module to be attached to a platform or to
another module being holes in the module wall that contacts the platform
or the other module, the holes being sized to receive the bolts and
concentric with object attachment points associated with the module wall.

10. The modular assembly of claim 1 wherein the MOFs are bolts, the
MOF-accommodating features of a module to which another module is to be
attached being holes in the module wall that the other module contacts,
the holes being threaded so as to engage the bolts and being concentric
with the object attachment points associated with the module wall.

11. The modular assembly of claim 1 wherein a modular-object bus system
comprises one or more interconnected bus sections attached to the
interior surfaces of a modular object, adjoining bus sections being
connected by an intra-object bus connector utilizing a support structure
attached to the modular object at one or more object attachment points.

12. The modular assembly of claim 1 wherein a modular object bus system
comprises one or more interconnected bus sections attached to the
interior surfaces of a modular object, adjoining bus sections being
connected by an intra-object bus connector utilizing a support structure
attached to one or more walls of the modular object.

13. The modular assembly of claim 1 wherein a modular-object bus system
comprises a first bus section and a second bus section, the conductors of
the second bus section being normal to the conductors of the first bus
section, an intra-object bus connector connecting the second bus section
to the first bus section in any one of a range of positions in a
direction parallel to the conductors of the first bus section.

14. The modular assembly of claim 1 wherein intra-object bus connectors
are attached to the ends of a cross-member, the intra-object bus
connectors automatically connecting bus sections attached to the
cross-member to bus sections attached to beams or to other cross-members
as the cross-member is installed in a platform.

15. The modular assembly of claim 1 wherein an inter-object bus connector
(IOBC) is mounted within a module for the purpose of connecting the bus
system of the module to the bus system of a modular object to which the
module is attached.

16. The modular assembly of claim 15 wherein an IOBC has an IOBC
attachment surface with one or more IOBC attachment points, the one or
more IOBC attachment points being congruent with object attachment points
of the module to which the IOBC is to be mounted, the mounting of the
IOBC being accomplished with IOBC fasteners and
IOBC-fastener-accommodating features of the IOBC and the module, the IOBC
being attachable to the module when one or more of the IOBC attachment
points coincide with the module's object attachment points.

17. The modular assembly of claim 16 wherein the IOBC fasteners are bolts,
the IOBC-fastener-accommodating features of the IOBC being threaded
holes, and the IOBC-fastener-accommodating features of the module being
holes sized to receive the bolts.

18. The modular assembly of claim 15 wherein an IOBC has a drive mechanism
for connecting and disconnecting the bus systems, the drive mechanism
being operable by a user from outside the module containing the IOBC.

19. The modular assembly of claim 18 wherein the drive mechanism comprises
a rotary driver and a transmission having an input shaft linked
mechanically to an output shaft, a given angular displacement of the
input shaft resulting in a smaller angular displacement of the output
shaft.

20. The modular assembly of claim 19 wherein the rotary driver is a wrench
coupling attached to the input shaft of the transmission.

21. The modular assembly of claim 19 wherein the rotary driver is an
electric motor coupled to the input shaft of the transmission.

22. The modular assembly of claim 19 wherein the transmission comprises a
worm engaging with and driving a worm gear.

23. The modular assembly of claim 15 wherein an IOBC comprises a pivoting
bus connector rotatably mounted in a pivoting-connector frame and a drive
mechanism, the pivoting-connector frame having an IOBC attachment surface
with one or more IOBC attachment points congruent with one or more object
attachment points of the module to which the IOBC is to be attached, the
driving mechanism enabling a user by actions performed outside the module
to which the IOBC is attached to move the pivoting bus connector from a
parked position within the module to a connected position whereby the bus
system in the module is connected to the bus system of the platform or
other module to which the module is attached.

24. The modular assembly of claim 15 wherein the IOBC comprises two
orthogonal linear arrays of conducting fingers, pairs of corresponding
fingers in the two arrays being electrically connected by an assembly of
conductors.

25. The modular assembly of claim 15 wherein the connection of the bus
systems of two modular objects by an IOBC automatically causes the
sealing of the modular object in which the IOBC is mounted from the entry
of dust.

Description:

CROSS-REFERENCE TO RELATED APPLICATIONS

[0001](Not Applicable)

STATEMENT REGARDING FEDERALLY SPONSORED RESEARCH AND DEVELOPMENT

[0002](Not Applicable)

REFERENCE TO SEQUENCE LISTING, A TABLE, OR A COMPUTER PROGRAM LISTING
COMPACT DISC APPENDIX

[0003](Not Applicable)

BACKGROUND OF THE INVENTION

[0004]This invention pertains to an assembly of modular objects for
autonomously executing a variety of tasks. Such an assembly is sometimes
referred to as a robot--"a machine or mechanical device that operates
automatically with humanlike skill." The Random House College Dictionary,
Revised Edition, Random House, Inc., New York, N.Y. (1988).

[0005]Present-day robots are designed to perform specialized tasks such as
vacuuming a carpeted room, mowing a lawn, storing and retrieving goods in
warehouses, obtaining and delivering goods in the course of manufacturing
operations, and performing operations in connection with the making of
parts and the assembly of machines. Specialized designs of robots for the
performance of specialized tasks will be an insurmountable economic
burden to the widespread use of robots in the future unless a way is
found to design robots to perform a multitude of tasks utilizing the same
basic configuration.

BRIEF SUMMARY OF THE INVENTION

[0006]The invention is a modular assembly of modular objects for
autonomously executing a variety of tasks. The modular assembly consists
of a modular object called a platform, one or more modular objects called
modules which are mounted to the platform in accordance with a modular
assembly system, and a modular bus system for distributing electrical
power and electrical signals among the modular objects in the modular
assembly. The modular assembly system utilizes modular object fasteners
(MOFs) and MOF-accommodating features of modular objects for facilitating
the attachment of a plurality of modular objects to one another thereby
creating a modular assembly in any one of a variety of configurations, an
MOF being activatable when object attachment surfaces associated with two
modular objects are superimposed and two object attachment points on the
object attachment surfaces coincide.

[0007]The modular assembly system facilitates the detachment of modular
objects in an assembly and the reattachment of the same or different
modular objects to form a different configuration of the modular assembly
or a different modular assembly.

[0008]The modular object called a platform consists of a frame of
interconnected beams and any cross-members attached to the frame, the
frame being amenable to the attachment and detachment of cross-members
within the frame. Beams and cross-members are structural members
consisting of one or more parallel flanges and one or more webs normal to
the flanges. Coplanar exterior surfaces of the flanges of the beams and
cross-members constitute object attachment surfaces with object
attachment points thereon. The web surfaces of the beams and
cross-members constitute bus attachment surfaces.

[0009]One or more modular objects called modules having at least one
object attachment surface is attachable to a platform or to another
module when one or more of the object attachment points on an object
attachment surface of the module coincide with one or more object
attachment points on an object attachment surface of the platform or the
other module;

[0010]The modular bus system consists of modular-object bus systems
attached to one or more bus-attachment surfaces within each modular
object, one or more inter-object bus connectors for electrically
connecting the plurality of modular-object bus systems to one another,
and one or more intra-object bus connectors for enabling the flow of
electrical power and electrical signals between the bus system of a
modular object and the units within the modular object.

[0041]FIG. 31 shows how the conductors in the pivoting bus connector are
transitioned from a linear configuration to a square configuration.

[0042]FIG. 32 shows how the conductors in the pivoting bus connector are
transitioned from a square configuration to a linear configuration.

[0043]FIG. 33 is a perspective view of the yoke of the pivoting bus
connector.

[0044]FIG. 34 is a perspective view of the pivoting bus connector fingers.

[0045]FIG. 35 shows how the pivoting bus connector connects to a module
bus.

[0046]FIG. 36 is a perspective view of the bus connector utilized in
connecting electronic devices and circuits within a module to the module
bus system.

[0047]FIG. 37 is a plan view of a module floor and the opening through
which the pivoting bus connector moves in connecting to the frame or
another module.

[0048]FIG. 38 shows how a dust-free environment is maintained in a module
after a pivoting bus connector connects the bus system of the module to
the bus system of the frame or another module.

DETAILED DESCRIPTION OF THE INVENTION

[0049]The invention is a modular assembly comprising a platform and a
variety of modules which can easily be attached to and detached from the
platform thereby permitting a user to easily put together a modular
assembly to perform a particular task or a variety of tasks by the
appropriate selection of modules.

[0050]A simple example of the preferred embodiment of the invention is
shown in FIG. 1. It consists of platform 11, power module 13, navigation
module 15, guidance & control module 17, four mobility modules 19 (three
of which are shown in the figure), and task module 21. A modular assembly
may not need to move in order to perform its assigned tasks, in which
case there would be no need for mobility modules. In some situations one
might want to exercise overall control of the modular assembly with an
external controller which would communicate with the modular assembly by
means of wires or wirelessly.

[0051]Power module 13 supplies all of the power required by the modules.
Depending on the power requirements of the modular assembly, it might be
simply a storage battery or a hybrid arrangement of storage batteries and
a generator driven by an internal combustion engine. If a variety of AC
and DC voltages are required by the modules, then power module 13 would
also include appropriate inventers and converters.

[0052]Navigation module 15 continually determines the position and
velocity of the modular assembly and supplies this data to guidance &
control module 17 which in turn generates control data for the mobility
modules 19 which will cause the assembly to follow the path appropriate
for performing the tasks assigned to the modular assembly.

[0053]Each of the mobility modules 19 consists of an
independently-suspended caster which utilizes separate electric motors to
control the caster direction and the caster wheel rotation rate. The
mobility modules 19 are mounted on the bottom of the platform in contrast
to the top mounting of the other modules. The mobility modules are of the
caster type and can be confined to the region immediately below the
platform 11 as shown in the figure. However, there is no requirement that
any of the modules must be confined to the regions either immediately
above or below the platform. If the mobility modules are based on an
automotive-type suspension, the wheels associated with the mobility
modules will necessarily be outside of the platform perimeter.

[0054]The platform consists of a frame of interconnected beams where a
beam is a structural member designed to resist bending. The component
parts of a beam are one or more parallel flanges connected together by
one or more webs normal to and attached to the flanges. In applications
where the beams are to resist the force of gravity, the flanges are
horizontal and the web is vertical. An I-beam has two flanges top and
bottom with a web centered between them. A C-beam (or channel) has two
flanges, top and bottom, with a web connecting the ends of the flanges. A
T-beam has a single flange and a web connected at the center of the
flange. An L-beam (or angle) has a single flange with a web connected to
the end. A BOX-beam has two flanges connected at the ends to the ends of
two webs thereby forming a box-like section. There are many variations of
these structures which may be used for the platform of this invention.

[0055]An example of the use of C-beams as the basis of the platform
structure is the rectangular frame shown in FIG. 2. A platform customized
for the particular set of modules shown in FIG. 1 is obtained by
inserting I-beam cross-members in the frame as shown in the top view of
FIG. 3.

[0056]Cross-members 25 and 27 (together with the frame) provide support
for modules 13, 15, and 17. Cross-members 29, 31, and 33 (together with
the frame) provide support for the front two mobility modules 19.
Cross-members 35 and 37 (together with the frame) provide support for
left rear mobility module 19, and cross-members 39 and 41 (together with
the frame) provide support for right rear mobility module 19.

[0057]A top view of the upper left corner of the platform shown in FIG. 3
is shown in FIG. 4. Frame 23 has holes as shown (typical frame hole 43)
spaced at regular intervals on its entire perimeter. The holes pass
through both flanges of the channel and are partially threaded at both
top and bottom. The cross-members (typical cross-member 45) also have
partially-threaded holes (typical cross-member hole 47), with the same
regular spacing as the frame and aligned with the frame holes after the
cross-member is inserted into the frame. The cross-member holes are on
both sides of the web and aligned (see typical aligned cross-member holes
47 and 49).

[0058]The flanges of the end portions of the cross-members are removed
leaving only the webs as shown for one end in FIG. 5. Each cross-member
end 51 has a hole 53 through the web which aligns with top and bottom
holes 55 and 57 of frame segment 59 or similar holes of another
cross-member when the cross-member is fully-inserted into the frame or
other cross-member (see FIG. 5).

[0060]A cross-member can be quickly attached to the frame, to the frame
and another cross-member, or to two other parallel cross-members by
inserting and screwing threaded pins into pre-drilled and partially
threaded holes in the frame and cross-members. The attachment of one end
of a cross member 61 to a frame 59 (see FIG. 5) proceeds by inserting the
end 51 of cross-member 61 into frame 59.

[0061]A sectional view of the frame 59 and cross-member 61 after insertion
in a plane normal to the cross-member longitudinal axis is shown in FIG.
6. A sectional view in the central plane of the cross-member web is as
shown in FIG. 7. The cross-member is secured to the frame by pin 63 which
is threaded at one end with a recess in the threaded end which accepts an
Allen wrench. The pin is passed through the holes in the frame and the
cross-member and then secured to the frame by causing the pin threads to
fully engage the threads 65 in the threaded region of the frame hole. Pin
63 does not extend into the threads 66 of bottom frame hole 57 (see FIGS.
5 and 7). Pin 63 may alternatively be inserted through hole 57 and
secured in position by engagement with threads 66 in bottom frame hole
57.

[0062]The attachment of a cross-member to another cross-member is
accomplished in the same way.

[0063]The frame need not be constrained to two dimensions as illustrated
in FIG. 2. The frame may assume any three-dimensional configuration that
can be achieved with structures of beams. The only requirement is that
the beam structure accommodate module attachment points (corresponding to
the mounting holes shown in the drawings) in the module mounting surfaces
of the structure that are congruent with a subset of a grid of attachment
points equally-spaced in the two dimensions of a two-dimensional
Cartesian-coordinate system.

[0064]Nor does the frame need to be constrained to the simple rectangular
shape shown in FIG. 2. The frame may be of any geometrical shape
achievable with a structure of beams as long as the attachment-point
requirement is satisfied.

[0065]The transmission of power and the communication of information among
modules is accomplished with buses. Bus 67 and buses 69 and 70 shown in
FIG. 6 are identical arrangements of parallel conductors attached to
insulating back planes which are in turn attached to the interior web
surfaces of the frame and cross-members respectively. One possible bus
layout is shown in FIG. 8. It consists of AC power bus 75, DC power bus
77, and data bus 79 attached to bus support structure 81. A sectional
view normal to the conductors is shown in FIG. 9.

[0066]The current required to provide the mobility desired for a mobile
modular assembly may require power bus conductors having dimensions
normal to current flow of a centimeter or more. Thus, the size of power
bus conductors are likely to be significantly greater than the data bus
conductors. In order to simplify the connections to the combination power
and data bus, it is desirable that the surfaces of the conductors
available for connection be in the same plane as illustrated in FIG. 9.
The design of the bus support structure 81 accomplishes this goal.

[0067]The connection of a cross-member bus to the frame bus is
accomplished with cross-member connector 71 which is shown in the
sectional view of FIG. 10 and which is attached to the end of
cross-member 61. Tabs 73 abut the sides of the cross-member bus
conductors and are either soldered or ultrasonically welded to them. An
identical connector is attached to the other end of cross-member 61 and
is electrically connected to the cross-member bus conductors on the
opposite side of the cross-member web.

[0068]The details of the cross-member bus connector 71 are shown in FIG.
11. Flexible DC power connector fingers 85, AC power connector fingers
87, and data connector fingers 89 are held in support structure 83, the
ends of which exit the support structure 83 as DC power connector tabs
91, AC power connector tabs 93, and data connector tabs 95 which are
soldered or ultrasonically welded to the cross-member bus conductors as
described above.

[0069]In attaching a cross-member to a frame or to another cross-member,
the connector fingers bend and thereby apply pressure to the
corresponding bus conductors in the contact region, thereby assuring a
good electrical connection between the bus conductors being connected.

[0070]The connection of the frame buses at the corners of the frame is
accomplished with the corner connector shown in FIG. 12. The corner
connector consists of two sets of flexible connector fingers 97 and 99
held in a plastic support structure 101. When installed in a corner of a
frame, the connector fingers make individual contact with the bus
conductors on each side of the corner as shown in FIG. 13.

[0071]Frame buses 103 and 105 are attached adhesively to interior web
surfaces 107 and 109 respectively of adjoining frame members at the
corner of a frame. The corner connector 111 is initially positioned as
shown and held in position by a pin which is inserted through the two
corner holes of the frame and hole 113 in cam 115. A front view of the
corner connector is shown in FIG. 14. This assembly process is easily
accomplished since the connector fingers 97 and 99 are unflexed during
the assembly process. Cam 115 is equipped with a square protuberances 119
and 121 at each end of the cam to which a wrench can be applied. By
rotating the cam with the aid of a wrench to dashed position 123, the
connector support structure 101 moves into the corner thereby causing the
connector fingers to flex and make good electrical contact with the bus
conductors.

[0072]A module such as the ones shown in FIG. 1 has outside width and
length dimensions equal to WS and LS respectively where W and L are
integers and S is the spacing of the holes in the frame and
cross-members. The module may have an arbitrary height. The top and
bottom of a module have a rectangular arrangement of holes that can be
aligned with those in the platform. The rectangle defined by the hole
centers is centered in the module surface with (W-1) holes in the width
dimension and (L-1) holes in the length dimension.

[0073]The attachment of a module 125 to a platform 127 begins with the
alignment of the holes in the module with the holes in the platform where
the module is to be attached as illustrated in FIG. 15. Then a shoulder
bolt, with the aid of a driving tool, is passed through top hole 129 of
module 125 and is caused to enter bottom hole 131 and engage the threaded
region 133 of the hole in the platform. This process is then repeated for
as many aligned holes as required to provide the requisite attachment
security.

[0074]In preparation for attaching a module to the top of module 125,
reducing bushing 135 is introduced into hole 129 from the top and screwed
into the threaded region utilizing an Allen wrench inserted into the
hexagonal socket 136 thereby converting the original threaded region into
a threaded region which is the same size as the threaded hole regions in
the platform. Similarly, reducing bushings are screwed into all of the
top holes of module 125 which are to be used in attaching the second
module.

[0075]A second module 137 is shown in FIG. 16 positioned for attachment to
module 125. It will be observed that reducing bushing 135 has been
installed in the top hole of module 125. Module 137 is bolted to module
125 in exactly the same way that module 125 was bolted to platform 127
(bolt not shown in figure).

[0076]After all of the desired modules have been mounted on the platform,
plugs like plug 139 are screwed into all exposed open top holes in the
modules in order to maintain dust-free environments within the modules.

[0077]Each module includes a bus and a bus connector which can be caused
to connect the module's bus to the platform bus system or to the bus of a
module on which the module is mounted. The installation of a bus
connector in a module is accomplished (prior to attachment of the module
to the platform or to another module) by aligning two tapped holes in the
bus connector with two of the holes in the bottom of the module and then
bolting the bus connector to the module. For example, if one wished to
attach a bus connector to either module 125 utilizing hole 141 or module
137 utilizing hole 143, neither hole being intended for use in attaching
the associated module to the platform or another module, one would align
the two tapped holes of the bus connector with hole 141 (or 143) and an
adjacent hole and utilizing shoulder bolts like shoulder bolt 145 to bolt
the bus connector to the module using an Allen wrench. The precise
positioning of the bus connector with respect to the module is assured by
the close fit of the shoulder 147 of the bolt and hole 141 (or 143) and
similarly in the case of a second bolt and the adjacent hole.

[0078]Each module is equipped with a bus system similar to the platform
bus system. A module's bus system consists of four buses adhesively
attached to the walls of the module at the same distance from the top of
the module as the platform buses are from the surface (either top or
bottom) of the platform. Alternatively, the module buses may be attached
to the walls of the module by mechanical fasteners of one kind or
another. The four busses are electrically connected together by corner
connectors.

[0079]After a module 171 is mounted to the platform 173, the module bus is
electrically connected to the platform bus by pivoting bus connector 185
as shown in FIG. 17. Two of the four interconnected module bus sections
175 and 177 are shown together with junction bus 179, junction bus
termination 183, and platform bus 180. The module bus sections 175 and
177 are electrically connected by a corner connector which attaches to
corner attachment fixture 178. Junction bus connector 181 connects module
bus section 177 to vertically-oriented junction bus 179. Junction bus
termination 183 provides an interface between junction bus 179 and
pivoting bus connector 185. Pivoting bus connector 185 provides the means
for connecting junction bus termination 183 to platform bus 180 after the
module has been attached to the platform. The pivoting bus connector
frame 187, which supports the pivoting bus connector 185, is attached to
a module by shoulder bolts which pass through adjacent holes in module
171 and screw into tapped hole 189 and an adjacent tapped hole which
align with the two adjacent holes in the module thereby securely and
precisely attaching the pivoting bus connector frame 187 to the module.

[0080]The corner bus connector which attaches to corner attachment fixture
178 and connects module bus section 175 to module bus section 177 is
detailed in FIG. 18. The view is the backside of the connector showing
the surfaces of flexible connector fingers 191 and 193 that make contact
with module bus sections 177 and 175 respectively. Plastic corner
connector support structure 195 provides support for the molded-in
phosphor bronze connector fingers 191 and 193. Holes 197 and 199 provide
the means for attaching corner connector support structure 195 to corner
attachment fixture 178 (FIG. 17) in a module.

[0081]The front view of corner connector support structure 195 together
with portions of the protruding fingers 191 and 193 are shown in FIG. 19.
The countersunk regions 201 and 203 prevent the attaching nuts from
obstructing or interfering with circuits and devices that will be
installed in the module. A sectional view of corner connector support
structure 195 and fingers 191 and 193 in position to be attached to
corner attachment fixture 178 is shown in FIG. 20. Corner attachment
fixtures are adhesively attached to the inside walls of a module at the
corners.

[0082]Bolt 205 together with a second bolt are molded in to corner
attachment fixture 178 in positions to match holes 197 and 199 in the
corner connector support structure 195. As shown in FIG. 20, the corner
attachment fixture bolts have entered the holes in the corner connector
support structure 195 and connector fingers 193 and 191 have made contact
with the conductors of buses 175 and 177 respectively but remain
unstressed. The attachment process is completed by screwing nuts on the
bolts until the connector fingers are fully stressed and making good
contacts with the bus conductors as indicated by the corner connector
support structure 195 coming into contact with the corner attachment
fixture 178.

[0083]Sectional views of junction bus 179 and module bus section 177 are
shown in FIGS. 21 and 22 respectively. The only difference in the two bus
types is that the module bus section 177 has shoulders 213 and 215 which
are used in attaching the junction bus connector 181 at any position
along the module bus section 177. The platform buses discussed earlier
are identical in configuration to the junction bus 179.

[0084]A view of the finger configuration of the junction bus connector 181
(FIG. 17) is shown in FIG. 23. The finger assembly is molded into the
junction bus connector support structure 217 as shown in FIG. 24. The
view of FIG. 24 is the underside of junction bus connector 181 which
comes in contact with module bus section 177 and junction bus 179.

[0085]The attachment of junction bus connector 181 to module bus section
177 and junction bus 179 is shown in FIG. 25. The attachment is
accomplished at the corners of junction bus connector 181 with clamps
219, 221, 223, and 225. The clamping details are illustrated in FIG. 26
using clamp 225 as an example. As shown in the figure, junction bus
connector 181, when placed over module bus section 177 and junction bus
179, is supported at a distance 227 above the two buses by the
undeflected fingers (not shown in figure) of the junction bus connector.
In this condition, the four clamps 219, 221, 223, and 225 can be slipped
into position as illustrated for clamp 225 in the figure. Precise
alignment of the connector and the buses can be achieved by adjusting the
position of the connector until each of the two clamps 223 and 225 are
positioned as clamp 225 is in the figure. Note that one side of clamp 225
abuts the edge of junction bus 179 and the opposite side is in the same
plane as the edge of junction bus connector 181.

[0086]After the clamps are correctly positioned and the junction bus
connector is correctly aligned with the buses, Allen screw 229 and the
Allen screws associated with clamps 219, 221, and 223 are all screwed
into the clamps forcing the junction bus connector support structure 217
to make contact with the underlying buses and causing the fingers of the
junction bus connector 181 to deflect and make pressured electrical
contacts with their associated bus conductors.

[0087]The junction bus connector 181 is symmetrical and thus can be used
to connect the module bus 177 to the junction bus 179 from either the
left or right sides as the buses are shown in FIG. 25. By rotating
junction bus connector 181 90 degrees counterclockwise in FIG. 25, it
would connect the right-hand portion of module bus 177 to junction bus
179.

[0088]Junction bus termination 183 shown in FIG. 27 consists of
rigidly-held conducting fingers 231 with which the flexible fingers of
pivoting bus connector 185 connects. The fingers 231 transition into pads
233. The finger assembly is molded into plastic support structure 235.
After the pads are connected to the ends of junction bus 179 by soldering
or ultrasonic welding and before junction bus connector 181 is connected,
junction bus termination 183 and the attached junction bus 179 is
inserted behind the already-installed pivoting bus connector 185. At the
beginning of the insertion, the upper portion of junction bus 179 rests
on top of module bus section 179 and must be tilted away from the module
wall. This tilting flexibility is provided by junction bus termination
183 being attached to junction bus 179 only by junction termination pads
233 which permits junction bus 179 to tilt away from surface 237 of
junction bus termination support structure 235. After reaching its proper
position, junction bus 179 drops down to the module wall in close
proximity to module bus section 177. The surface 239 of junction bus
termination 183 and junction bus 179 will be held securely against the
module wall by sinusoidal spring 241 shown in FIG. 28 at one edge of
pivoting bus connector frame 187 and by a second spring on the other side
of the frame. The springs are held trapped in the frame as illustrated in
the figure for spring 241 with its ends inserted into slots 243 and 245.

[0089]Pivoting bus connector 185 (FIG. 17) is shown in greater detail in
the sectional views of FIGS. 29 and 30. Pivoting bus connector 185 is
shown parked in module 171 above platform 173 in FIG. 29. Pivoting bus
connector 185 is rigidly attached to shaft 255 whose ends are supported
in frame 187 in a manner which allows the shaft to freely rotate. Worm
gear 257 is rigidly attached to shaft 255 and engages worm 259. Worm 259
is rigidly attached to a worm shaft having a hexagonal socket head
termination 261 (drivable by an Allen wrench) and constrained within a
hole in the frame shelf by worm 259 at one end and hexagonal socket head
termination 261 at the other end. The worm shaft is free to rotate and
thereby drive worm gear 257 and pivoting bus connector 185 in a
ninety-degree arc thereby causing pivoting bus connector 185 to arrive at
the position shown in FIG. 30, simultaneously connecting platform bus 180
to junction bus termination 183 which is hidden between the walls of
pivoting bus connector frame 187 in FIGS. 29 and 30.

[0090]The mounting of pivoting bus connector frame 187 to the module
results in hexagonal socket head termination 261 being aligned with
module hole 169 (FIG. 17) and also with the corresponding hole in the
upper surface of the module. Thus, a user can insert an extended-length
Allen wrench through the aligned hole in the upper surface of the module
and engage the hexagonal socket head termination 261 to turn the worm
259, thereby either moving the pivoting bus connector 185 from the parked
"disconnect" position in the module (FIG. 29) to the operational
"connect` position (FIG. 30) wherein platform bus 180 becomes connected
to junction bus termination 183 (FIG. 17) or performing the reverse
operation which results in platform bus 180 becoming disconnected from
junction bus termination 183.

[0091]Socket head termination 261 may be driven with an electric motor
attached to frame shelf 263 and a user may then access the motor and
supply power to it by inserting an extended-length power wand through the
aligned hole in the upper surface of the module and into a power
receptacle attached to the electric motor.

[0092]The dashed outline of finger assembly 265 in FIGS. 29 and 30 shows
the position of the finger assembly that attaches to the conductors at
the end of pivoting bus connector 185 and makes the connection to the
fingers of junction bus termination 183 which is hidden within the walls
of pivoting bus connector frame 187 and which connects to junction bus
179. A similar finger assembly 267 attaches to the conductors at the
other end of pivoting bus connector 185 and makes the connection to the
conductors of platform bus 180.

[0093]The pivoting bus connector 185 is an assembly of conductors
terminated on one end with finger assembly 267 consisting of a plurality
of vertically-oriented linear array of flexible conducting fingers which
are intended to make contact with the conductors of the platform bus 180
and terminated on the other end with finger assembly 265 consisting of a
horizontally-oriented linear array of flexible conducting fingers which
are intended to make contact with the conducting fingers of the junction
bus termination 183 (FIG. 17).

[0094]The pivoting-connector conductors emerge from finger assembly 267 as
a vertically-oriented array shown in FIG. 31 as solid-line squares. Each
conductor is subject to a series of bends about axes normal to the sides
of the conductors including a ninety-degree change in direction which
bring them into the square configuration of dashed squares shown in FIG.
31. This square configuration is achieved when all of the conductors are
aligned vertically in FIG. 30. The transition from a linear configuration
to a square configuration requires the conductors to be displaced by
bends as indicated by the arrows in FIG. 31.

[0095]Each conductor is then subject to a series of bends about axes
normal to the sides of the conductors including a ninety-degree change in
direction which brings them into the linear horizontally-oriented
configuration of solid-line squares shown in FIG. 32. The transition from
the square configuration to the linear configuration requires
displacements of the conductors as indicated again by the arrows.

[0096]A yoke for attaching shafts to the pivoting bus connector surrounds
the conductor assembly at the pivot axis. The yoke, shown in FIG. 33, has
two tapped holes 275 and 277 on the pivot axis to receive shafts with
threaded ends that pass through holes in the side walls of pivoting bus
connector frame 187 (FIG. 17) and screw into the tapped holes in the
yoke.

[0097]Finger assemblies 265 and 267 with individually-flexible fingers for
making electrical contact with the platform bus 180 and the junction bus
termination 183 (FIG. 17), like that shown in FIG. 34, are attached to
each end of the conductor assembly by soldering or ultrasonic welding.
The resulting combination of conductor assembly, yoke, and finger
assemblies are molded into plastic thereby completing the fabrication of
the pivoting bus connector. The dashed outline 279 shows the plastic
support structure that encompasses the conductor assembly and the
attachment ends of the finger assembly at each end of the pivoting bus
connector after the molding process has been completed.

[0098]The pivoting bus connector 185 connects to the platform bus by
essentially a linear motion normal to the platform bus. First, the
fingers 281 contact the bus conductors and then individually and
elastically bend as they move closer to the bus conductors thereby
applying forces to the contacting portions of the fingers and securing
good electrical connections.

[0099]The pivoting bus connector 185 connects to the junction bus
termination 183 by a rotating motion as shown in FIG. 35. The frame 187
of the pivoting bus connector 185 abuts wall 283 and is bolted to floor
285 of module 171 (FIG. 17). The fingers 287 of finger assembly 265 are
shown in the "parked" position 287-P that corresponds to the parked
position of the pivoting bus connector 185 (see FIG. 29). As the pivoting
bus connector 185 rotates, the fingers 287 rotate with the straight ends
touching inner circle 289 and the curved ends touching outer circle 291.
The fingers remain undeflected during the ninety-degree rotation of the
pivoting bus connector until they reach the "touching" position 287-T
where they touch the ends of the junction bus termination fingers 231
(FIG. 27). Further rotation causes the fingers to bend elastically until
they achieve the "maximum bending" position 287-MB and good electrical
connections to the junction bus termination fingers after a full
ninety-degree rotation of the pivoting bus connector.

[0100]Electrical connections to electrical and electronic devices and
equipments within a module are accomplished by any of a wide variety of
conventional wiring means and bus connector 293 shown in FIG. 36. Bus
connector 293 is clamped to the module bus using clamps like clamp 225
shown in FIG. 26 in a fashion similar to the way junction bus connector
181 is clamped to module bus 177 (see FIG. 25). Bus connector 293 may be
attached wherever on the module bus is most convenient for wiring, and
the clamps may be placed anywhere along the two sides of the connector
which are above the shoulders 213 and 215 of module bus 177 (see FIG.
22).

[0101]The clamping of bus connector 293 to module bus 177 results in the
surfaces 295 and 297 of bus connector 293 being in intimate contact with
the top surfaces of shoulders 213 and 215 (FIG. 22) of module bus 177.
This positioning results in bus connector fingers 299 flexing to the
degree 301 necessary to make good electrical contacts with the module bus
conductors and also limits the flexing to the elastic region.

[0102]Bus connector fingers 299 are electrically connected by a rigid
conductor assembly to the receptacle contacts of any type connector
preferred by the user. Circular plastic connector (CPC) 303, capable of
handling up to eight signal conductors and five power conductors, is
shown in FIG. 36. A plurality of receptacles may be provided on a single
bus connector 293 utilizing any or all of the five surfaces (bottom and
four sides). The receptacles may be the same or different depending upon
the user's preferences.

[0103]Bus connector 293 is molded into plastic and becomes the bus
connector shown in FIG. 36 except for possibly having a plurality of
receptacles available instead of just one.

[0104]In order for the pivoting bus connector in a module to connect to a
bus beneath the module, there must be an opening in the floor of the
module. For the embodiment of the invention described herein (see FIG.
4), the rectangular opening 321 shown in FIG. 37 would suffice. In order
to maintain a dust-free environment within the module, hinged
spring-loaded cover 323 covers the portion of the opening not occupied by
the pivoting bus connector after the pivoting bus connector moves from
the "parked" position to the "connect" position. The manner in which the
cover is opened and closed is illustrated in FIG. 38.

[0105]When the pivoting bus connector 325 is in the "park" position 325-P,
the cover 323-O is open and leaning against the pivoting bus connector.
The cover 323 is spring-loaded so that a force is continually being
applied to the cover to cause it to move to the closed position unless it
is prevented from doing so by the pivoting bus connector.

[0106]When the pivoting bus connector 325 moves to the "connect" position
325-C, the cover 323 shown in the open position 323-O follows it down to
the closed position 323-C and closes the portion of opening 321 not
occupied by the pivoting bus connector. In order to maintain a dust-free
environment when the pivoting bus connector 325 is in the connect
position 325-C an elastically-compressible dust seal 327 is attached to
cover 323 on its perimeter and elastically deforms to seal that portion
of opening 321 where the cover abuts the opening. An
elastically-compressible dust seal 329 surrounds the neck of the pivoting
bus connector and elastically deforms to seal that portion of opening 321
that surrounds the neck when the pivoting bus connector is in the
"connect" position 325-C.